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Add enable_ptp_config param for Gemini 335Le

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This commit is contained in:
jj
2025-05-12 13:54:05 +08:00
parent 412f55acfc
commit fc45a4f745
3 changed files with 8 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+6
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@@ -291,6 +291,11 @@ void OBCameraNode::setupDevices() {
software_trigger_period_, [this]() { TRY_EXECUTE_BLOCK(device_->triggerCapture()); });
}
}
if (device_->isPropertySupported(OB_DEVICE_PTP_CLOCK_SYNC_ENABLE_BOOL,
OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Set PTP Config: " << (enable_ptp_config_ ? "ON" : "OFF"));
device_->setBoolProperty(OB_DEVICE_PTP_CLOCK_SYNC_ENABLE_BOOL, enable_ptp_config_);
}
if (device_->isPropertySupported(OB_PROP_DEPTH_PRECISION_LEVEL_INT, OB_PERMISSION_READ_WRITE) &&
!depth_precision_str_.empty()) {
@@ -1615,6 +1620,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(trigger2image_delay_us_, "trigger2image_delay_us", 0);
setAndGetNodeParameter<int>(trigger_out_delay_us_, "trigger_out_delay_us", 0);
setAndGetNodeParameter<bool>(trigger_out_enabled_, "trigger_out_enabled", false);
setAndGetNodeParameter<bool>(enable_ptp_config_, "enable_ptp_config", false);
setAndGetNodeParameter<std::string>(cloud_frame_id_, "cloud_frame_id", "");
if (enable_colored_point_cloud_ || enable_d2c_viewer_) {
depth_registration_ = true;